一种基于信息融合的巡线机器人电磁导航方法  

An Electromagnetic Navigation Method Based on Information Fusion for Inspection Robot

作　　者：王伟[1] 白玉成[1] 吴功平[1] 肖华[1] 杨智勇[1] 徐显金[2] 

机构地区：[1]武汉大学动力与机械学院,湖北省武汉市430072 [2]湖北工业大学机械工程学院,湖北省武汉市430068

出　　处：《电力系统自动化》2013年第16期73-79,共7页Automation of Electric Power Systems

基　　金：国家高技术研究发展计划(863计划)资助项目(2005AA42006-1);国家自然科学基金资助项目(51105281)~~

摘　　要：围绕巡线机器人电磁导航,分析了电磁传感器阵列信息与机器人位姿之间强非线性映射的特点,提出了采用反向传播(BP)人工神经网络方法对机器人上的电磁传感器阵列信息进行数据融合的方法。该方法利用神经网络方法的非线性拟合逼近特点,通过离线学习训练,建立电磁传感器阵列信息与机器人机械臂相对导线的空间位姿的非线性映射关系模型,实现巡线机器人自主导航。该方法可有效减小单个电磁传感器信息检测误差对机器人导航控制的影响,提高机器人抓线控制的准确性。最后,通过实验验证了该方法的可行性和有效性。Around the inspection robot electromagnetic navigation, an analysis of the characteristics of strong nonlinear mapping between the electromagnetic sensor array information and the robot pose is made, and a method using the back propagation （BP） artificial neural network fusion method for the data fusion array of electromagnetic sensors on the robot is proposed. By making use of the neural network nonlinear fitting approximation characteristics and through offline learning training, a nonlinear relationship model is built between the electromagnetic sensor arrays information and robot arm spatial position relative to the power line, to achieve the autonomous navigation of inspection robot. The method can effectively reduce the influence of the detection error of single electromagnetic sensor information on the robot navigation control and improve the robot＇s line grasping control accuracy. Finally, the feasibility and effectiveness of the method is verified by experiment.

关 键 词：高压输电线路 机器人 电磁传感器 导航 信息融合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]